SensorsQUICK REFERENCE
MPU6050
I2C connections, scale factors and the six axes of robot motion.
01Wiring & address
- Bus
- SDA to SDA, SCL to SCL, GND to GND. Pull-ups must match MCU logic.
- Address
- AD0 LOW = 0x68; AD0 HIGH = 0x69. Scan the I2C bus to confirm.
- Supply
- Bare IC: 2.375–3.46 V. Breakout regulators and pull-ups vary; inspect the board.
- INT
- Optional interrupt output for data-ready events.
02Data interpretation
- Accelerometer
- X/Y/Z acceleration; selectable ±2/4/8/16 g. At ±2 g: 16384 LSB/g.
- Gyroscope
- X/Y/Z angular rate; ±250/500/1000/2000 °/s. At ±250: 131 LSB/(°/s).
- Axes
- Use board axis markings and the right-hand rule. At rest, gravity appears on the acceleration axes.
03Startup
- Wake
- Clear sleep in PWR_MGMT_1 (0x6B); configure ranges and sample rate.
- Calibrate
- Average stationary gyro readings for bias; raw values are not directly roll/pitch/yaw.